/**
  ******************************************************************************
  * @file           : yaw_task.h
  * @author         : Tessia
  * @brief          : None
  * @attention      : None
  * @date           : 2024/2/26
  ******************************************************************************
  */



#ifndef SENTRY_CHASSIS_YAW_TASK_H
#define SENTRY_CHASSIS_YAW_TASK_H

#include "DM_motor_driver.h"
#include "drv_can_dr16.h"
#include "task_gyro.h"
#include "filtering_drv.h"
#include "chassis_motor_task.h"

const float YAW_FORWARD_ROUNDS = -0.5106;


#ifdef __cplusplus
extern "C" {
#endif
//C

void yaw_task(void *argument);

#ifdef __cplusplus
}
#endif
//C++

#endif //SENTRY_CHASSIS_YAW_TASK_H
